Sorting boxes with a robotic swarm: An analysis by means of experiment, simulation and model

We present an extended framework for boltzmann-type models of robotic swarms. The framework allows to establish models that are able to predict the temporal evolution of the average spatial distribution of a swarm of interacting robots. To demonstrate its abilities the framework is applied to derive a model of a scenario of a robotic swarm sorting differently colored boxes. The results of the model are then compared to results obtained from simulations and from experiments conducted with a group of real robots.